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<h1>microinfinity-cruizcore.h</h1>  </div>
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<div class="contents">
<a href="microinfinity-cruizcore_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*!@addtogroup other</span>
<a name="l00002"></a>00002 <span class="comment"> * @{</span>
<a name="l00003"></a>00003 <span class="comment"> * @defgroup cruizcore CruizCore XG1300L Sensor</span>
<a name="l00004"></a>00004 <span class="comment"> * CruizCore XG1300L</span>
<a name="l00005"></a>00005 <span class="comment"> * @{</span>
<a name="l00006"></a>00006 <span class="comment"> */</span>
<a name="l00007"></a>00007 
<a name="l00008"></a>00008 <span class="comment">/*</span>
<a name="l00009"></a>00009 <span class="comment"> * $Id: microinfinity-cruizcore.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00010"></a>00010 <span class="comment"> */</span>
<a name="l00011"></a>00011 
<a name="l00012"></a>00012 <span class="preprocessor">#ifndef __MICC_H__</span>
<a name="l00013"></a>00013 <span class="preprocessor"></span><span class="preprocessor">#define __MICC_H__</span>
<a name="l00014"></a>00014 <span class="preprocessor"></span><span class="comment">/** \file microinfinity-cruizcore.h</span>
<a name="l00015"></a>00015 <span class="comment"> * \brief MicroInfinity CruizCore XG1300L driver</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * microinfinity-cruizcore.h provides an API for the MicroInfinity CruizCore XG1300L sensor.</span>
<a name="l00018"></a>00018 <span class="comment"> *</span>
<a name="l00019"></a>00019 <span class="comment"> * Changelog:</span>
<a name="l00020"></a>00020 <span class="comment"> * - 0.1: Initial release</span>
<a name="l00021"></a>00021 <span class="comment"> *</span>
<a name="l00022"></a>00022 <span class="comment"> * Credits:</span>
<a name="l00023"></a>00023 <span class="comment"> * - Big thanks to MicroInfinity for providing me with the hardware necessary to write and test this.</span>
<a name="l00024"></a>00024 <span class="comment"> *</span>
<a name="l00025"></a>00025 <span class="comment"> * License: You may use this code as you wish, provided you give credit where its due.</span>
<a name="l00026"></a>00026 <span class="comment"> *</span>
<a name="l00027"></a>00027 <span class="comment"> * THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER. </span>
<a name="l00028"></a>00028 <span class="comment"></span>
<a name="l00029"></a>00029 <span class="comment"> * \author Xander Soldaat (xander_at_botbench.com)</span>
<a name="l00030"></a>00030 <span class="comment"> * \date 29 May 2011</span>
<a name="l00031"></a>00031 <span class="comment"> * \version 0.1</span>
<a name="l00032"></a>00032 <span class="comment"> * \example microinfinity-cruizcore-test1.c</span>
<a name="l00033"></a>00033 <span class="comment"> * \example microinfinity-cruizcore-test2.c</span>
<a name="l00034"></a>00034 <span class="comment"> */</span>
<a name="l00035"></a>00035 
<a name="l00036"></a>00036 <span class="preprocessor">#pragma systemFile</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span>
<a name="l00038"></a>00038 <span class="preprocessor">#ifndef __COMMON_H__</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span><span class="preprocessor">#include &quot;<a class="code" href="common_8h.html" title="Commonly used functions used by drivers.">common.h</a>&quot;</span>
<a name="l00040"></a>00040 <span class="preprocessor">#endif</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span>
<a name="l00042"></a><a class="code" href="group__cruizcore.html#gaa3391a4cd45551d680b5b6cad13a8b6c">00042</a> <span class="preprocessor">#define MICC_I2C_ADDR       0x02  </span><span class="comment">/*!&lt; MICC I2C device address */</span>
<a name="l00043"></a>00043 
<a name="l00044"></a><a class="code" href="group__cruizcore.html#gaf4e5eb5ac16b0dda83b15dcd38a1ecfc">00044</a> <span class="preprocessor">#define MICC_ACC_ANG        0x42  </span><span class="comment">/*!&lt; MICC Accumulated angle (2 bytes) */</span>
<a name="l00045"></a>00045 
<a name="l00046"></a><a class="code" href="group__cruizcore.html#ga19f11c6ed299d3f8118198e1616dfe4b">00046</a> <span class="preprocessor">#define MICC_TURN_RATE      0x44  </span><span class="comment">/*!&lt; MICC Rate of Turn (2 bytes) */</span>
<a name="l00047"></a>00047 
<a name="l00048"></a><a class="code" href="group__cruizcore.html#ga98b2f25c97974432f52cd3437fc79ec7">00048</a> <span class="preprocessor">#define MICC_X_ACCEL        0x46  </span><span class="comment">/*!&lt; MICC X acceleration data (2 bytes) */</span>
<a name="l00049"></a><a class="code" href="group__cruizcore.html#ga0123fbab054f2f5d93754f0144a81c8d">00049</a> <span class="preprocessor">#define MICC_Y_ACCEL        0x48  </span><span class="comment">/*!&lt; MICC Y acceleration data (2 bytes) */</span>
<a name="l00050"></a><a class="code" href="group__cruizcore.html#ga47cfeb91f82c29f4ba055136c47a1fac">00050</a> <span class="preprocessor">#define MICC_Z_ACCEL        0x4A  </span><span class="comment">/*!&lt; MICC Z acceleration data (2 bytes) */</span>
<a name="l00051"></a>00051 
<a name="l00052"></a><a class="code" href="group__cruizcore.html#ga954a8ac3b9bf49a4bbf69e241266402a">00052</a> <span class="preprocessor">#define MICC_CMD_RESET      0x60  </span><span class="comment">/*!&lt; MICC Reset the device */</span>
<a name="l00053"></a><a class="code" href="group__cruizcore.html#ga146de14957b3a87fe1eb47bbf0e6b985">00053</a> <span class="preprocessor">#define MICC_CMD_RANGE_2G   0x61  </span><span class="comment">/*!&lt; MICC Acceleration up to 2G */</span>
<a name="l00054"></a><a class="code" href="group__cruizcore.html#gade43ddebb30f128e900880837d0154ea">00054</a> <span class="preprocessor">#define MICC_CMD_RANGE_4G   0x62  </span><span class="comment">/*!&lt; MICC Acceleration up to 4G */</span>
<a name="l00055"></a><a class="code" href="group__cruizcore.html#gaca100eaa83bfd26d49d9a7db1793dd31">00055</a> <span class="preprocessor">#define MICC_CMD_RANGE_8G   0x63  </span><span class="comment">/*!&lt; MICC Acceleration up to 8G */</span>
<a name="l00056"></a>00056 
<a name="l00057"></a>00057 <span class="keywordtype">int</span> <a class="code" href="group__cruizcore.html#ga0b366d3bf46cc3430aaa12e0849074c4">MICCreadRelativeHeading</a>(tSensors link);
<a name="l00058"></a>00058 <span class="keywordtype">int</span> <a class="code" href="group__cruizcore.html#ga3fdcaa677edaef65f350e9a9d5ee24a2">MICCreadTurnRate</a>(tSensors link);
<a name="l00059"></a>00059 <span class="keywordtype">bool</span> <a class="code" href="group__cruizcore.html#gaeda9486ec6cfd506b155d84bcd2f7b64">MICCreadAccel</a>(tSensors link, <span class="keywordtype">int</span> &amp;x_accel, <span class="keywordtype">int</span> &amp;y_accel, <span class="keywordtype">int</span> &amp;z_accel);
<a name="l00060"></a>00060 <span class="keywordtype">bool</span> <a class="code" href="group__cruizcore.html#ga9f6eda417621011c765f9cbb4e291d91">MICCsendCmd</a>(tSensors link, ubyte command);
<a name="l00061"></a>00061 
<a name="l00062"></a><a class="code" href="group__cruizcore.html#ga02917ca92acb06eda7040ef2f0ae161f">00062</a> <span class="preprocessor">#define MICCsetRange2G(x) MICCsendCmd(x, MICC_CMD_RANGE_2G) </span><span class="comment">/*!&lt; Macro for setting sensor to 2G range */</span>
<a name="l00063"></a><a class="code" href="group__cruizcore.html#ga14583ac3061c53fd2b8e7d4b7ca2d965">00063</a> <span class="preprocessor">#define MICCsetRange4G(x) MICCsendCmd(x, MICC_CMD_RANGE_4G) </span><span class="comment">/*!&lt; Macro for setting sensor to 4G range */</span>
<a name="l00064"></a><a class="code" href="group__cruizcore.html#gaddcface0963145b35306d010d95ab04c">00064</a> <span class="preprocessor">#define MICCsetRange8G(x) MICCsendCmd(x, MICC_CMD_RANGE_8G) </span><span class="comment">/*!&lt; Macro for setting sensor to 8G range */</span>
<a name="l00065"></a><a class="code" href="group__cruizcore.html#ga7b6b0769eca3edca8d7a82fb152200f8">00065</a> <span class="preprocessor">#define MICCreset(x)      MICCsendCmd(x, MICC_CMD_RESET)    </span><span class="comment">/*!&lt; Macro for resetting sensor */</span>
<a name="l00066"></a>00066 
<a name="l00067"></a><a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">00067</a> <a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a> <a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>;       <span class="comment">/*!&lt; Array to hold I2C command data */</span>
<a name="l00068"></a><a class="code" href="group__cruizcore.html#ga45acd8c6f77717e3d0a7fcfd8b25f164">00068</a> <a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a> <a class="code" href="group__cruizcore.html#ga45acd8c6f77717e3d0a7fcfd8b25f164">MICC_I2CReply</a>;         <span class="comment">/*!&lt; Array to hold I2C reply data */</span>
<a name="l00069"></a>00069 
<a name="l00070"></a>00070 <span class="comment"></span>
<a name="l00071"></a>00071 <span class="comment">/**</span>
<a name="l00072"></a>00072 <span class="comment"> * Return the current relative heading, value between -179 and 180 degrees.&lt;br&gt;</span>
<a name="l00073"></a>00073 <span class="comment"> * Angle is measured in 100th degrees.  So 12899 = 128.99 degrees.</span>
<a name="l00074"></a>00074 <span class="comment"> * @return the relative heading</span>
<a name="l00075"></a>00075 <span class="comment"> */</span>
<a name="l00076"></a><a class="code" href="group__cruizcore.html#ga0b366d3bf46cc3430aaa12e0849074c4">00076</a> <span class="keywordtype">int</span> <a class="code" href="group__cruizcore.html#ga0b366d3bf46cc3430aaa12e0849074c4">MICCreadRelativeHeading</a>(tSensors link) {
<a name="l00077"></a>00077   memset(<a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00078"></a>00078 
<a name="l00079"></a>00079   <a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>[0] = 2;               <span class="comment">// Number of bytes in I2C command</span>
<a name="l00080"></a>00080   <a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>[1] = <a class="code" href="group__cruizcore.html#gaa3391a4cd45551d680b5b6cad13a8b6c">MICC_I2C_ADDR</a>;   <span class="comment">// I2C address of accel sensor</span>
<a name="l00081"></a>00081   <a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>[2] = <a class="code" href="group__cruizcore.html#gaf4e5eb5ac16b0dda83b15dcd38a1ecfc">MICC_ACC_ANG</a>;    <span class="comment">// Set write address to sensor mode register</span>
<a name="l00082"></a>00082 
<a name="l00083"></a>00083   <span class="keywordflow">if</span> (!<a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>, <a class="code" href="group__cruizcore.html#ga45acd8c6f77717e3d0a7fcfd8b25f164">MICC_I2CReply</a>, 2))
<a name="l00084"></a>00084     <span class="keywordflow">return</span> 0;
<a name="l00085"></a>00085 
<a name="l00086"></a>00086   <span class="comment">// Each result is made up of two bytes.</span>
<a name="l00087"></a>00087         <span class="keywordflow">return</span> (<a class="code" href="group__cruizcore.html#ga45acd8c6f77717e3d0a7fcfd8b25f164">MICC_I2CReply</a>[1] &lt;&lt; 8) + <a class="code" href="group__cruizcore.html#ga45acd8c6f77717e3d0a7fcfd8b25f164">MICC_I2CReply</a>[0];
<a name="l00088"></a>00088 }
<a name="l00089"></a>00089 
<a name="l00090"></a>00090 <span class="comment"></span>
<a name="l00091"></a>00091 <span class="comment">/**</span>
<a name="l00092"></a>00092 <span class="comment"> * Return the Rate of Turn in degrees per second</span>
<a name="l00093"></a>00093 <span class="comment"> * @return the current rate of turn</span>
<a name="l00094"></a>00094 <span class="comment"> */</span>
<a name="l00095"></a><a class="code" href="group__cruizcore.html#ga3fdcaa677edaef65f350e9a9d5ee24a2">00095</a> <span class="keywordtype">int</span> <a class="code" href="group__cruizcore.html#ga3fdcaa677edaef65f350e9a9d5ee24a2">MICCreadTurnRate</a>(tSensors link) {
<a name="l00096"></a>00096   memset(<a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00097"></a>00097 
<a name="l00098"></a>00098   <a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>[0] = 2;               <span class="comment">// Number of bytes in I2C command</span>
<a name="l00099"></a>00099   <a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>[1] = <a class="code" href="group__cruizcore.html#gaa3391a4cd45551d680b5b6cad13a8b6c">MICC_I2C_ADDR</a>;   <span class="comment">// I2C address of accel sensor</span>
<a name="l00100"></a>00100   <a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>[2] = <a class="code" href="group__cruizcore.html#ga19f11c6ed299d3f8118198e1616dfe4b">MICC_TURN_RATE</a>;    <span class="comment">// Set write address to sensor mode register</span>
<a name="l00101"></a>00101 
<a name="l00102"></a>00102   <span class="keywordflow">if</span> (!<a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>, <a class="code" href="group__cruizcore.html#ga45acd8c6f77717e3d0a7fcfd8b25f164">MICC_I2CReply</a>, 2))
<a name="l00103"></a>00103     <span class="keywordflow">return</span> 0;
<a name="l00104"></a>00104 
<a name="l00105"></a>00105   <span class="comment">// Each result is made up of two bytes.</span>
<a name="l00106"></a>00106         <span class="keywordflow">return</span> (<a class="code" href="group__cruizcore.html#ga45acd8c6f77717e3d0a7fcfd8b25f164">MICC_I2CReply</a>[1] &lt;&lt; 8) + <a class="code" href="group__cruizcore.html#ga45acd8c6f77717e3d0a7fcfd8b25f164">MICC_I2CReply</a>[0];
<a name="l00107"></a>00107 }
<a name="l00108"></a>00108 <span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment">/**</span>
<a name="l00110"></a>00110 <span class="comment"> * Read acceleration data from the sensor</span>
<a name="l00111"></a>00111 <span class="comment"> * @param link the sensor port number</span>
<a name="l00112"></a>00112 <span class="comment"> * @param x_accel X acceleration data</span>
<a name="l00113"></a>00113 <span class="comment"> * @param y_accel Y acceleration data</span>
<a name="l00114"></a>00114 <span class="comment"> * @param z_accel Z acceleration data</span>
<a name="l00115"></a>00115 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00116"></a>00116 <span class="comment"> */</span>
<a name="l00117"></a><a class="code" href="group__cruizcore.html#gaeda9486ec6cfd506b155d84bcd2f7b64">00117</a> <span class="keywordtype">bool</span> <a class="code" href="group__cruizcore.html#gaeda9486ec6cfd506b155d84bcd2f7b64">MICCreadAccel</a>(tSensors link, <span class="keywordtype">int</span> &amp;x_accel, <span class="keywordtype">int</span> &amp;y_accel, <span class="keywordtype">int</span> &amp;z_accel) {
<a name="l00118"></a>00118   memset(<a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00119"></a>00119 
<a name="l00120"></a>00120   <a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>[0] = 2;               <span class="comment">// Number of bytes in I2C command</span>
<a name="l00121"></a>00121   <a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>[1] = <a class="code" href="group__cruizcore.html#gaa3391a4cd45551d680b5b6cad13a8b6c">MICC_I2C_ADDR</a>;   <span class="comment">// I2C address of accel sensor</span>
<a name="l00122"></a>00122   <a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>[2] = <a class="code" href="group__cruizcore.html#ga98b2f25c97974432f52cd3437fc79ec7">MICC_X_ACCEL</a>;    <span class="comment">// Set write address to sensor mode register</span>
<a name="l00123"></a>00123 
<a name="l00124"></a>00124   <span class="keywordflow">if</span> (!<a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>, <a class="code" href="group__cruizcore.html#ga45acd8c6f77717e3d0a7fcfd8b25f164">MICC_I2CReply</a>, 6))
<a name="l00125"></a>00125     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00126"></a>00126 
<a name="l00127"></a>00127   <span class="comment">// Each result is made up of two bytes.</span>
<a name="l00128"></a>00128         x_accel = (<a class="code" href="group__cruizcore.html#ga45acd8c6f77717e3d0a7fcfd8b25f164">MICC_I2CReply</a>[1] &lt;&lt; 8) + <a class="code" href="group__cruizcore.html#ga45acd8c6f77717e3d0a7fcfd8b25f164">MICC_I2CReply</a>[0];
<a name="l00129"></a>00129         y_accel = (<a class="code" href="group__cruizcore.html#ga45acd8c6f77717e3d0a7fcfd8b25f164">MICC_I2CReply</a>[3] &lt;&lt; 8) + <a class="code" href="group__cruizcore.html#ga45acd8c6f77717e3d0a7fcfd8b25f164">MICC_I2CReply</a>[2];
<a name="l00130"></a>00130         z_accel = (<a class="code" href="group__cruizcore.html#ga45acd8c6f77717e3d0a7fcfd8b25f164">MICC_I2CReply</a>[5] &lt;&lt; 8) + <a class="code" href="group__cruizcore.html#ga45acd8c6f77717e3d0a7fcfd8b25f164">MICC_I2CReply</a>[4];
<a name="l00131"></a>00131   <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00132"></a>00132 }
<a name="l00133"></a>00133 
<a name="l00134"></a>00134 <span class="comment"></span>
<a name="l00135"></a>00135 <span class="comment">/**</span>
<a name="l00136"></a>00136 <span class="comment"> * Send a command to the sensor</span>
<a name="l00137"></a>00137 <span class="comment"> * @param link the sensor port number</span>
<a name="l00138"></a>00138 <span class="comment"> * @param command the command to be sent</span>
<a name="l00139"></a>00139 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00140"></a>00140 <span class="comment"> */</span>
<a name="l00141"></a><a class="code" href="group__cruizcore.html#ga9f6eda417621011c765f9cbb4e291d91">00141</a> <span class="keywordtype">bool</span> <a class="code" href="group__cruizcore.html#ga9f6eda417621011c765f9cbb4e291d91">MICCsendCmd</a>(tSensors link, ubyte command) {
<a name="l00142"></a>00142   memset(<a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00143"></a>00143 
<a name="l00144"></a>00144   <a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>[0] = 2;               <span class="comment">// Number of bytes in I2C command</span>
<a name="l00145"></a>00145   <a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>[1] = <a class="code" href="group__cruizcore.html#gaa3391a4cd45551d680b5b6cad13a8b6c">MICC_I2C_ADDR</a>;   <span class="comment">// I2C address of accel sensor</span>
<a name="l00146"></a>00146   <a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>[2] = command;         <span class="comment">// Set write address to sensor mode register</span>
<a name="l00147"></a>00147 
<a name="l00148"></a>00148   <span class="keywordflow">return</span> <a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__cruizcore.html#ga46bcab013003709ceefc67c2cc3ad658">MICC_I2CRequest</a>);
<a name="l00149"></a>00149 }
<a name="l00150"></a>00150 
<a name="l00151"></a>00151 <span class="preprocessor">#endif //__MICC_H__</span>
<a name="l00152"></a>00152 <span class="preprocessor"></span>
<a name="l00153"></a>00153 <span class="comment">/*</span>
<a name="l00154"></a>00154 <span class="comment"> * $Id: microinfinity-cruizcore.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00155"></a>00155 <span class="comment"> */</span>
<a name="l00156"></a>00156 <span class="comment">/* @} */</span>
<a name="l00157"></a>00157 <span class="comment">/* @} */</span>
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